Hi. I am trying to implement the code that makes PR2 model's arm and gripper pick and place objects with PID control and InverseKInematics on Gazebo simulation.

[Simulation environment]Ubuntu 14.04LTS + ROS indigo

I already read following tutorial and I could implemented PID control by using pr2mechanism. http://wiki.ros.org/pr2mechanism/Tutorials

However, for InverseKInematics, I could not a find tutorial to implement inversekinematics by using pr2_mechanism. Does anyone know where I can find the tutorial? Should I use Moveit?